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<title>Doxygen: pcl::BOARDLocalReferenceFrameEstimation&lt; PointInT, PointNT, PointOutT &gt; 模板类 参考</title>
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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-types">Protected 类型</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::BOARDLocalReferenceFrameEstimation&lt; PointInT, PointNT, PointOutT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html" title="BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm for lo...">BOARDLocalReferenceFrameEstimation</a> implements the BOrder Aware Repeatable Directions algorithm for local reference frame estimation as described here:  
 <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="board_8h_source.html">board.h</a>&gt;</code></p>
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类 pcl::BOARDLocalReferenceFrameEstimation&lt; PointInT, PointNT, PointOutT &gt; 继承关系图:</div>
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  <img src="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.png" usemap="#pcl::BOARDLocalReferenceFrameEstimation_3C_20PointInT_2C_20PointNT_2C_20PointOutT_20_3E_map" alt=""/>
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Public 类型</h2></td></tr>
<tr class="memitem:afcefee791d5e84aa2d6b5af2316f0c22"><td class="memItemLeft" align="right" valign="top"><a id="afcefee791d5e84aa2d6b5af2316f0c22"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointNT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudN</b></td></tr>
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typedef PointCloudN::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNPtr</b></td></tr>
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typedef PointCloudN::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt; PointInT, PointNT, <a class="el" href="structpcl_1_1_reference_frame.html">ReferenceFrame</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt; PointInT, PointNT, <a class="el" href="structpcl_1_1_reference_frame.html">ReferenceFrame</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_feature.html">Feature</a>&lt; PointInT, <a class="el" href="structpcl_1_1_reference_frame.html">ReferenceFrame</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_feature.html">Feature</a>&lt; PointInT, <a class="el" href="structpcl_1_1_reference_frame.html">ReferenceFrame</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree</b></td></tr>
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typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>KdTreePtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
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typedef PointCloudIn::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInPtr</b></td></tr>
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typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_reference_frame.html">ReferenceFrame</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudOut</b></td></tr>
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typedef boost::function&lt; int(size_t, double, std::vector&lt; int &gt; &amp;, std::vector&lt; float &gt; &amp;)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchMethod</b></td></tr>
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typedef boost::function&lt; int(const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud, size_t index, double, std::vector&lt; int &gt; &amp;, std::vector&lt; float &gt; &amp;)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchMethodSurface</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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Public 成员函数</h2></td></tr>
<tr class="memitem:a9fa7273a3e5b10ba7d377cf7f022eef2"><td class="memItemLeft" align="right" valign="top"><a id="a9fa7273a3e5b10ba7d377cf7f022eef2"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9fa7273a3e5b10ba7d377cf7f022eef2">BOARDLocalReferenceFrameEstimation</a> ()</td></tr>
<tr class="memdesc:a9fa7273a3e5b10ba7d377cf7f022eef2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="memitem:af27446a4f4a632b4dc787616d7928dde"><td class="memItemLeft" align="right" valign="top"><a id="af27446a4f4a632b4dc787616d7928dde"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#af27446a4f4a632b4dc787616d7928dde">~BOARDLocalReferenceFrameEstimation</a> ()</td></tr>
<tr class="memdesc:af27446a4f4a632b4dc787616d7928dde"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:af27446a4f4a632b4dc787616d7928dde"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6b84b273b35a2c0e1ce2db35a0c344b5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6b84b273b35a2c0e1ce2db35a0c344b5">setTangentRadius</a> (float radius)</td></tr>
<tr class="memdesc:a6b84b273b35a2c0e1ce2db35a0c344b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference Frame for a given point.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6b84b273b35a2c0e1ce2db35a0c344b5">更多...</a><br /></td></tr>
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<tr class="memitem:a256c12a56092a55bdeed19ac1a77ec15"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a256c12a56092a55bdeed19ac1a77ec15">getTangentRadius</a> () const</td></tr>
<tr class="memdesc:a256c12a56092a55bdeed19ac1a77ec15"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference Frame for a given point.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a256c12a56092a55bdeed19ac1a77ec15">更多...</a><br /></td></tr>
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<tr class="memitem:aff653a5a1a90a17c50e2f1c0ba9c225d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aff653a5a1a90a17c50e2f1c0ba9c225d">setFindHoles</a> (bool find_holes)</td></tr>
<tr class="memdesc:aff653a5a1a90a17c50e2f1c0ba9c225d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the Reference Frame or not.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aff653a5a1a90a17c50e2f1c0ba9c225d">更多...</a><br /></td></tr>
<tr class="separator:aff653a5a1a90a17c50e2f1c0ba9c225d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a132a85d60b60164853924bafb14e1f3b"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a132a85d60b60164853924bafb14e1f3b">getFindHoles</a> () const</td></tr>
<tr class="memdesc:a132a85d60b60164853924bafb14e1f3b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the Reference Frame or not.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a132a85d60b60164853924bafb14e1f3b">更多...</a><br /></td></tr>
<tr class="separator:a132a85d60b60164853924bafb14e1f3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab133cdddc92c41a0a53accfa4e83ea28"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab133cdddc92c41a0a53accfa4e83ea28">setMarginThresh</a> (float margin_thresh)</td></tr>
<tr class="memdesc:ab133cdddc92c41a0a53accfa4e83ea28"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab133cdddc92c41a0a53accfa4e83ea28">更多...</a><br /></td></tr>
<tr class="separator:ab133cdddc92c41a0a53accfa4e83ea28"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6ffa76944c0cbdb3c38645e4af539d99"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6ffa76944c0cbdb3c38645e4af539d99">getMarginThresh</a> () const</td></tr>
<tr class="memdesc:a6ffa76944c0cbdb3c38645e4af539d99"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6ffa76944c0cbdb3c38645e4af539d99">更多...</a><br /></td></tr>
<tr class="separator:a6ffa76944c0cbdb3c38645e4af539d99"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a697610a41cdc46220a777b1b3d804a79"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a697610a41cdc46220a777b1b3d804a79">setCheckMarginArraySize</a> (int size)</td></tr>
<tr class="memdesc:a697610a41cdc46220a777b1b3d804a79"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the number of slices in which is divided the margin for the search of missing regions.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a697610a41cdc46220a777b1b3d804a79">更多...</a><br /></td></tr>
<tr class="separator:a697610a41cdc46220a777b1b3d804a79"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acca15a07b92d4e6aac69fccafb6f5d7a"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#acca15a07b92d4e6aac69fccafb6f5d7a">getCheckMarginArraySize</a> () const</td></tr>
<tr class="memdesc:acca15a07b92d4e6aac69fccafb6f5d7a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the number of slices in which is divided the margin for the search of missing regions.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#acca15a07b92d4e6aac69fccafb6f5d7a">更多...</a><br /></td></tr>
<tr class="separator:acca15a07b92d4e6aac69fccafb6f5d7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a40a126956e22130de00aeb223a522ba8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a40a126956e22130de00aeb223a522ba8">setHoleSizeProbThresh</a> (float prob_thresh)</td></tr>
<tr class="memdesc:a40a126956e22130de00aeb223a522ba8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given the angle width of a hole in the support margin, sets the minimum percentage of a circumference this angle must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a40a126956e22130de00aeb223a522ba8">更多...</a><br /></td></tr>
<tr class="separator:a40a126956e22130de00aeb223a522ba8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af455b091134c659ef542b6b68d92302d"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#af455b091134c659ef542b6b68d92302d">getHoleSizeProbThresh</a> () const</td></tr>
<tr class="memdesc:af455b091134c659ef542b6b68d92302d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given the angle width of a hole in the support margin, gets the minimum percentage of a circumference this angle must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#af455b091134c659ef542b6b68d92302d">更多...</a><br /></td></tr>
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<tr class="memitem:a121b2c872aab8a5ab7708b378369437c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a121b2c872aab8a5ab7708b378369437c">setSteepThresh</a> (float steep_thresh)</td></tr>
<tr class="memdesc:a121b2c872aab8a5ab7708b378369437c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the minimum steepness that the normals of the points situated on the borders of the hole, with reference to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a121b2c872aab8a5ab7708b378369437c">更多...</a><br /></td></tr>
<tr class="separator:a121b2c872aab8a5ab7708b378369437c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7f7236eb7e247383e2b22650cfc2a99"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab7f7236eb7e247383e2b22650cfc2a99">getSteepThresh</a> () const</td></tr>
<tr class="memdesc:ab7f7236eb7e247383e2b22650cfc2a99"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the minimum steepness that the normals of the points situated on the borders of the hole, with reference to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab7f7236eb7e247383e2b22650cfc2a99">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_feature_from_normals"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_feature_from_normals')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals&lt; PointInT, PointNT, ReferenceFrame &gt;</a></td></tr>
<tr class="memitem:a158bd4a3ec52800cc8a883ceaefa51c6 inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="a158bd4a3ec52800cc8a883ceaefa51c6"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_from_normals.html#a158bd4a3ec52800cc8a883ceaefa51c6">FeatureFromNormals</a> ()</td></tr>
<tr class="memdesc:a158bd4a3ec52800cc8a883ceaefa51c6 inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a158bd4a3ec52800cc8a883ceaefa51c6 inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a59bc12a33b1893b361bf246e32282e4f inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="a59bc12a33b1893b361bf246e32282e4f"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_from_normals.html#a59bc12a33b1893b361bf246e32282e4f">~FeatureFromNormals</a> ()</td></tr>
<tr class="memdesc:a59bc12a33b1893b361bf246e32282e4f inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a59bc12a33b1893b361bf246e32282e4f inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a349685ac9deb723502de9f399d0286dc inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">setInputNormals</a> (const PointCloudNConstPtr &amp;normals)</td></tr>
<tr class="memdesc:a349685ac9deb723502de9f399d0286dc inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. In case of search surface is set to be different from the input cloud, normals should correspond to the search surface, not the input cloud!  <a href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">更多...</a><br /></td></tr>
<tr class="separator:a349685ac9deb723502de9f399d0286dc inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2eb5090f6a3413a436d5900b386bf8e0 inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="a2eb5090f6a3413a436d5900b386bf8e0"></a>
PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_from_normals.html#a2eb5090f6a3413a436d5900b386bf8e0">getInputNormals</a> () const</td></tr>
<tr class="memdesc:a2eb5090f6a3413a436d5900b386bf8e0 inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the normals of the input XYZ point cloud dataset. <br /></td></tr>
<tr class="separator:a2eb5090f6a3413a436d5900b386bf8e0 inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_feature"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_feature')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_feature.html">pcl::Feature&lt; PointInT, ReferenceFrame &gt;</a></td></tr>
<tr class="memitem:a96497e27e1087c0b1e07c8ae84aea152 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a96497e27e1087c0b1e07c8ae84aea152"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a96497e27e1087c0b1e07c8ae84aea152">Feature</a> ()</td></tr>
<tr class="memdesc:a96497e27e1087c0b1e07c8ae84aea152 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a96497e27e1087c0b1e07c8ae84aea152 inherit pub_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a147e6286fc98646910c4b6751278038f inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a147e6286fc98646910c4b6751278038f"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a147e6286fc98646910c4b6751278038f">~Feature</a> ()</td></tr>
<tr class="memdesc:a147e6286fc98646910c4b6751278038f inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a147e6286fc98646910c4b6751278038f inherit pub_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a14fbb05e0e8f1d1ec766a50353f3c224 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a14fbb05e0e8f1d1ec766a50353f3c224">setSearchSurface</a> (const PointCloudInConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a14fbb05e0e8f1d1ec766a50353f3c224 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.  <a href="classpcl_1_1_feature.html#a14fbb05e0e8f1d1ec766a50353f3c224">更多...</a><br /></td></tr>
<tr class="separator:a14fbb05e0e8f1d1ec766a50353f3c224 inherit pub_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09320ff2025be07c1e4a378d88588e8d inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a09320ff2025be07c1e4a378d88588e8d"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a09320ff2025be07c1e4a378d88588e8d">getSearchSurface</a> () const</td></tr>
<tr class="memdesc:a09320ff2025be07c1e4a378d88588e8d inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the surface point cloud dataset. <br /></td></tr>
<tr class="separator:a09320ff2025be07c1e4a378d88588e8d inherit pub_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ace1caca622f06eee8ad1911228324792 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">setSearchMethod</a> (const KdTreePtr &amp;tree)</td></tr>
<tr class="memdesc:ace1caca622f06eee8ad1911228324792 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the search object.  <a href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">更多...</a><br /></td></tr>
<tr class="separator:ace1caca622f06eee8ad1911228324792 inherit pub_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acc850056d252306c48c481e4bbee1821 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="acc850056d252306c48c481e4bbee1821"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#acc850056d252306c48c481e4bbee1821">getSearchMethod</a> () const</td></tr>
<tr class="memdesc:acc850056d252306c48c481e4bbee1821 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the search method used. <br /></td></tr>
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<tr class="memitem:a86004b18e77cc0c38a1a33fbd43fb760 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a86004b18e77cc0c38a1a33fbd43fb760"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a86004b18e77cc0c38a1a33fbd43fb760">getSearchParameter</a> () const</td></tr>
<tr class="memdesc:a86004b18e77cc0c38a1a33fbd43fb760 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the internal search parameter. <br /></td></tr>
<tr class="separator:a86004b18e77cc0c38a1a33fbd43fb760 inherit pub_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a50129bc51cb240eca42df9963f7ac0c0 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a50129bc51cb240eca42df9963f7ac0c0">setKSearch</a> (int k)</td></tr>
<tr class="memdesc:a50129bc51cb240eca42df9963f7ac0c0 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of k nearest neighbors to use for the feature estimation.  <a href="classpcl_1_1_feature.html#a50129bc51cb240eca42df9963f7ac0c0">更多...</a><br /></td></tr>
<tr class="separator:a50129bc51cb240eca42df9963f7ac0c0 inherit pub_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a94cce071beee358359b14db2edcc62ae inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a94cce071beee358359b14db2edcc62ae"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a94cce071beee358359b14db2edcc62ae">getKSearch</a> () const</td></tr>
<tr class="memdesc:a94cce071beee358359b14db2edcc62ae inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the number of k nearest neighbors used for the feature estimation. <br /></td></tr>
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<tr class="memitem:a44829319486a2dc415a4e068dc55c577 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">setRadiusSearch</a> (double radius)</td></tr>
<tr class="memdesc:a44829319486a2dc415a4e068dc55c577 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.  <a href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">更多...</a><br /></td></tr>
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<tr class="memitem:ac62f459672f3ca0e986e495a9220b268 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="ac62f459672f3ca0e986e495a9220b268"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ac62f459672f3ca0e986e495a9220b268">getRadiusSearch</a> () const</td></tr>
<tr class="memdesc:ac62f459672f3ca0e986e495a9220b268 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the sphere radius used for determining the neighbors. <br /></td></tr>
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<tr class="memitem:ad5b1fa9612da40e738b1d99252c5ff2f inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
<tr class="memdesc:ad5b1fa9612da40e738b1d99252c5ff2f inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base method for feature estimation for all points given in &lt;setInputCloud (), setIndices ()&gt; using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()  <a href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">更多...</a><br /></td></tr>
<tr class="separator:ad5b1fa9612da40e738b1d99252c5ff2f inherit pub_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
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<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
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<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const PointInT &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override PointCloud operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
<tr class="separator:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected 类型</h2></td></tr>
<tr class="memitem:a55cf7d703b638c7699bd159610aca944"><td class="memItemLeft" align="right" valign="top"><a id="a55cf7d703b638c7699bd159610aca944"></a>
typedef <a class="el" href="classpcl_1_1_feature.html">Feature</a>&lt; PointInT, PointOutT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
<tr class="separator:a55cf7d703b638c7699bd159610aca944"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9545fc7ce0324b64739cda3e9e5b6937"><td class="memItemLeft" align="right" valign="top"><a id="a9545fc7ce0324b64739cda3e9e5b6937"></a>
typedef <a class="el" href="classpcl_1_1_feature.html">Feature</a>&lt; PointInT, PointOutT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudOut</b></td></tr>
<tr class="separator:a9545fc7ce0324b64739cda3e9e5b6937"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a0d115b55f54fc088ed0f013a96a2e617"><td class="memItemLeft" align="right" valign="top"><a id="a0d115b55f54fc088ed0f013a96a2e617"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>resetData</b> ()</td></tr>
<tr class="separator:a0d115b55f54fc088ed0f013a96a2e617"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a443d413a50bc03235dfca64d6a0d4563"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a443d413a50bc03235dfca64d6a0d4563">computePointLRF</a> (const int &amp;index, Eigen::Matrix3f &amp;lrf)</td></tr>
<tr class="memdesc:a443d413a50bc03235dfca64d6a0d4563"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with normals  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a443d413a50bc03235dfca64d6a0d4563">更多...</a><br /></td></tr>
<tr class="separator:a443d413a50bc03235dfca64d6a0d4563"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab87274eb94ebc08e0c7164e8d34cd955"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab87274eb94ebc08e0c7164e8d34cd955">computeFeature</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
<tr class="memdesc:ab87274eb94ebc08e0c7164e8d34cd955"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract feature estimation method.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab87274eb94ebc08e0c7164e8d34cd955">更多...</a><br /></td></tr>
<tr class="separator:ab87274eb94ebc08e0c7164e8d34cd955"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a372933f17aa96381feed1149b935d337"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">directedOrthogonalAxis</a> (Eigen::Vector3f const &amp;axis, Eigen::Vector3f const &amp;axis_origin, Eigen::Vector3f const &amp;point, Eigen::Vector3f &amp;directed_ortho_axis)</td></tr>
<tr class="memdesc:a372933f17aa96381feed1149b935d337"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given an axis (with origin axis_origin), return the orthogonal axis directed to point.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">更多...</a><br /></td></tr>
<tr class="separator:a372933f17aa96381feed1149b935d337"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a78e4538355e85c97aac9550bf05b0c4e"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a78e4538355e85c97aac9550bf05b0c4e">getAngleBetweenUnitVectors</a> (Eigen::Vector3f const &amp;v1, Eigen::Vector3f const &amp;v2, Eigen::Vector3f const &amp;axis)</td></tr>
<tr class="memdesc:a78e4538355e85c97aac9550bf05b0c4e"><td class="mdescLeft">&#160;</td><td class="mdescRight">return the angle (in radians) that rotate v1 to v2 with respect to axis .  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a78e4538355e85c97aac9550bf05b0c4e">更多...</a><br /></td></tr>
<tr class="separator:a78e4538355e85c97aac9550bf05b0c4e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aab6328bd9ca767e101193c0133a8313d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aab6328bd9ca767e101193c0133a8313d">normalDisambiguation</a> (<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointNT &gt; const &amp;normals_cloud, std::vector&lt; int &gt; const &amp;normal_indices, Eigen::Vector3f &amp;normal)</td></tr>
<tr class="memdesc:aab6328bd9ca767e101193c0133a8313d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disambiguates a normal direction using adjacent normals  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aab6328bd9ca767e101193c0133a8313d">更多...</a><br /></td></tr>
<tr class="separator:aab6328bd9ca767e101193c0133a8313d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a539340a12ac997e4a6bc4c20764d1ed1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a539340a12ac997e4a6bc4c20764d1ed1">planeFitting</a> (Eigen::Matrix&lt; float, Eigen::Dynamic, 3 &gt; const &amp;points, Eigen::Vector3f &amp;center, Eigen::Vector3f &amp;norm)</td></tr>
<tr class="memdesc:a539340a12ac997e4a6bc4c20764d1ed1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute Least Square Plane Fitting in a set of 3D points  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a539340a12ac997e4a6bc4c20764d1ed1">更多...</a><br /></td></tr>
<tr class="separator:a539340a12ac997e4a6bc4c20764d1ed1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a26951f67a6cc8abb851ba700125084a9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a26951f67a6cc8abb851ba700125084a9">projectPointOnPlane</a> (Eigen::Vector3f const &amp;point, Eigen::Vector3f const &amp;origin_point, Eigen::Vector3f const &amp;plane_normal, Eigen::Vector3f &amp;projected_point)</td></tr>
<tr class="memdesc:a26951f67a6cc8abb851ba700125084a9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given a plane (origin and normal) and a point, return the projection of x on plane  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a26951f67a6cc8abb851ba700125084a9">更多...</a><br /></td></tr>
<tr class="separator:a26951f67a6cc8abb851ba700125084a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aecb6595caf21c9109e84f7c5964e04d9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aecb6595caf21c9109e84f7c5964e04d9">randomOrthogonalAxis</a> (Eigen::Vector3f const &amp;axis, Eigen::Vector3f &amp;rand_ortho_axis)</td></tr>
<tr class="memdesc:aecb6595caf21c9109e84f7c5964e04d9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given an axis, return a random orthogonal axis  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aecb6595caf21c9109e84f7c5964e04d9">更多...</a><br /></td></tr>
<tr class="separator:aecb6595caf21c9109e84f7c5964e04d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aee8fdbbcd1053a970dd15835cce2d9b1"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aee8fdbbcd1053a970dd15835cce2d9b1">areEquals</a> (float val1, float val2, float zero_float_eps=1E-8f) const</td></tr>
<tr class="memdesc:aee8fdbbcd1053a970dd15835cce2d9b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if val1 and val2 are equals.  <a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aee8fdbbcd1053a970dd15835cce2d9b1">更多...</a><br /></td></tr>
<tr class="separator:aee8fdbbcd1053a970dd15835cce2d9b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_feature_from_normals"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_feature_from_normals')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals&lt; PointInT, PointNT, ReferenceFrame &gt;</a></td></tr>
<tr class="memitem:a2720af3323c9bb15c073156fe568ced3 inherit pro_methods_classpcl_1_1_feature_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="a2720af3323c9bb15c073156fe568ced3"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_from_normals.html#a2720af3323c9bb15c073156fe568ced3">initCompute</a> ()</td></tr>
<tr class="memdesc:a2720af3323c9bb15c073156fe568ced3 inherit pro_methods_classpcl_1_1_feature_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation. <br /></td></tr>
<tr class="separator:a2720af3323c9bb15c073156fe568ced3 inherit pro_methods_classpcl_1_1_feature_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_feature"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_feature')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_feature.html">pcl::Feature&lt; PointInT, ReferenceFrame &gt;</a></td></tr>
<tr class="memitem:ae6b4d5717999b6267a670dc704146fdc inherit pro_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="ae6b4d5717999b6267a670dc704146fdc"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ae6b4d5717999b6267a670dc704146fdc">getClassName</a> () const</td></tr>
<tr class="memdesc:ae6b4d5717999b6267a670dc704146fdc inherit pro_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:ae6b4d5717999b6267a670dc704146fdc inherit pro_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab235b6b76033922b19aae91714d7e413 inherit pro_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="ab235b6b76033922b19aae91714d7e413"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ab235b6b76033922b19aae91714d7e413">deinitCompute</a> ()</td></tr>
<tr class="memdesc:ab235b6b76033922b19aae91714d7e413 inherit pro_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after ending the actual computation. <br /></td></tr>
<tr class="separator:ab235b6b76033922b19aae91714d7e413 inherit pro_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa7d2ff6f0db4d63a74a3e01ad2b1f9ab inherit pro_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#aa7d2ff6f0db4d63a74a3e01ad2b1f9ab">searchForNeighbors</a> (size_t index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</td></tr>
<tr class="memdesc:aa7d2ff6f0db4d63a74a3e01ad2b1f9ab inherit pro_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search for k-nearest neighbors using the spatial locator from <em>setSearchmethod</em>, and the given surface from <em>setSearchSurface</em>.  <a href="classpcl_1_1_feature.html#aa7d2ff6f0db4d63a74a3e01ad2b1f9ab">更多...</a><br /></td></tr>
<tr class="separator:aa7d2ff6f0db4d63a74a3e01ad2b1f9ab inherit pro_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9422bdfb7074f73019e32d55eeda73bb inherit pro_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a9422bdfb7074f73019e32d55eeda73bb">searchForNeighbors</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud, size_t index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</td></tr>
<tr class="memdesc:a9422bdfb7074f73019e32d55eeda73bb inherit pro_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search for k-nearest neighbors using the spatial locator from <em>setSearchmethod</em>, and the given surface from <em>setSearchSurface</em>.  <a href="classpcl_1_1_feature.html#a9422bdfb7074f73019e32d55eeda73bb">更多...</a><br /></td></tr>
<tr class="separator:a9422bdfb7074f73019e32d55eeda73bb inherit pro_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a92cb54c700e6df9f2936b3d5cc9806ff"><td class="memItemLeft" align="right" valign="top"><a id="a92cb54c700e6df9f2936b3d5cc9806ff"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">tangent_radius_</a></td></tr>
<tr class="memdesc:a92cb54c700e6df9f2936b3d5cc9806ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Radius used to find tangent axis. <br /></td></tr>
<tr class="separator:a92cb54c700e6df9f2936b3d5cc9806ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a52b9cf45c34049cfd6990798bffac8f3"><td class="memItemLeft" align="right" valign="top"><a id="a52b9cf45c34049cfd6990798bffac8f3"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a52b9cf45c34049cfd6990798bffac8f3">find_holes_</a></td></tr>
<tr class="memdesc:a52b9cf45c34049cfd6990798bffac8f3"><td class="mdescLeft">&#160;</td><td class="mdescRight">If true, check if support is complete or has missing regions because it is too near to mesh borders. <br /></td></tr>
<tr class="separator:a52b9cf45c34049cfd6990798bffac8f3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aca61a3043c416fbc512236412121eb59"><td class="memItemLeft" align="right" valign="top"><a id="aca61a3043c416fbc512236412121eb59"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aca61a3043c416fbc512236412121eb59">margin_thresh_</a></td></tr>
<tr class="memdesc:aca61a3043c416fbc512236412121eb59"><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold that define if a support point is near the margins. <br /></td></tr>
<tr class="separator:aca61a3043c416fbc512236412121eb59"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9ccdf190f8782d158c409adea2763c01"><td class="memItemLeft" align="right" valign="top"><a id="a9ccdf190f8782d158c409adea2763c01"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a></td></tr>
<tr class="memdesc:a9ccdf190f8782d158c409adea2763c01"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of slices that divide the support in order to determine if a missing region is present. <br /></td></tr>
<tr class="separator:a9ccdf190f8782d158c409adea2763c01"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a760ab86e7331f14c560e4f57c67aee31"><td class="memItemLeft" align="right" valign="top"><a id="a760ab86e7331f14c560e4f57c67aee31"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a760ab86e7331f14c560e4f57c67aee31">hole_size_prob_thresh_</a></td></tr>
<tr class="memdesc:a760ab86e7331f14c560e4f57c67aee31"><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold used to determine a missing region <br /></td></tr>
<tr class="separator:a760ab86e7331f14c560e4f57c67aee31"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa3012f8e208e3d3657d15d4b782d818b"><td class="memItemLeft" align="right" valign="top"><a id="aa3012f8e208e3d3657d15d4b782d818b"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aa3012f8e208e3d3657d15d4b782d818b">steep_thresh_</a></td></tr>
<tr class="memdesc:aa3012f8e208e3d3657d15d4b782d818b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold that defines if a missing region contains a point with the most different normal. <br /></td></tr>
<tr class="separator:aa3012f8e208e3d3657d15d4b782d818b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaf90e2e4d43213b9df46b556e6ab666d"><td class="memItemLeft" align="right" valign="top"><a id="aaf90e2e4d43213b9df46b556e6ab666d"></a>
std::vector&lt; bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>check_margin_array_</b></td></tr>
<tr class="separator:aaf90e2e4d43213b9df46b556e6ab666d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adb160f5e3254941067d54287dc9b38ee"><td class="memItemLeft" align="right" valign="top"><a id="adb160f5e3254941067d54287dc9b38ee"></a>
std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>margin_array_min_angle_</b></td></tr>
<tr class="separator:adb160f5e3254941067d54287dc9b38ee"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acf2fbf8b2682f157fe866ea558aec1fe"><td class="memItemLeft" align="right" valign="top"><a id="acf2fbf8b2682f157fe866ea558aec1fe"></a>
std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>margin_array_max_angle_</b></td></tr>
<tr class="separator:acf2fbf8b2682f157fe866ea558aec1fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aac35b8932e61b75deed09d6c5766cca1"><td class="memItemLeft" align="right" valign="top"><a id="aac35b8932e61b75deed09d6c5766cca1"></a>
std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>margin_array_min_angle_normal_</b></td></tr>
<tr class="separator:aac35b8932e61b75deed09d6c5766cca1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a66be41f9c56fdb2631333d46ad9f587a"><td class="memItemLeft" align="right" valign="top"><a id="a66be41f9c56fdb2631333d46ad9f587a"></a>
std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>margin_array_max_angle_normal_</b></td></tr>
<tr class="separator:a66be41f9c56fdb2631333d46ad9f587a"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_feature_from_normals"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_feature_from_normals')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals&lt; PointInT, PointNT, ReferenceFrame &gt;</a></td></tr>
<tr class="memitem:aabc97906d7c9620d70c5a16de5a48c31 inherit pro_attribs_classpcl_1_1_feature_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="aabc97906d7c9620d70c5a16de5a48c31"></a>
PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">normals_</a></td></tr>
<tr class="memdesc:aabc97906d7c9620d70c5a16de5a48c31 inherit pro_attribs_classpcl_1_1_feature_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the input dataset that contains the point normals of the XYZ dataset. <br /></td></tr>
<tr class="separator:aabc97906d7c9620d70c5a16de5a48c31 inherit pro_attribs_classpcl_1_1_feature_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_feature"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_feature')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_feature.html">pcl::Feature&lt; PointInT, ReferenceFrame &gt;</a></td></tr>
<tr class="memitem:a54032b79551164878ff59ed93b5c1dc5 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a54032b79551164878ff59ed93b5c1dc5"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a></td></tr>
<tr class="memdesc:a54032b79551164878ff59ed93b5c1dc5 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The feature name. <br /></td></tr>
<tr class="separator:a54032b79551164878ff59ed93b5c1dc5 inherit pro_attribs_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af2d27cdd139bd79335008303cf68ba82 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="af2d27cdd139bd79335008303cf68ba82"></a>
SearchMethodSurface&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#af2d27cdd139bd79335008303cf68ba82">search_method_surface_</a></td></tr>
<tr class="memdesc:af2d27cdd139bd79335008303cf68ba82 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The search method template for points. <br /></td></tr>
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<tr class="memitem:a98f8c497ac78cf49d9274c3ab5fe52df inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a98f8c497ac78cf49d9274c3ab5fe52df"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">surface_</a></td></tr>
<tr class="memdesc:a98f8c497ac78cf49d9274c3ab5fe52df inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">An input point cloud describing the surface that is to be used for nearest neighbors estimation. <br /></td></tr>
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<tr class="memitem:a7ce882e12198b2b2373cc31ba27b0ef1 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a7ce882e12198b2b2373cc31ba27b0ef1"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a7ce882e12198b2b2373cc31ba27b0ef1">tree_</a></td></tr>
<tr class="memdesc:a7ce882e12198b2b2373cc31ba27b0ef1 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the spatial search object. <br /></td></tr>
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<tr class="memitem:a0d21af8f0a11aa224026f6bb8e3060e7 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a0d21af8f0a11aa224026f6bb8e3060e7"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a0d21af8f0a11aa224026f6bb8e3060e7">search_parameter_</a></td></tr>
<tr class="memdesc:a0d21af8f0a11aa224026f6bb8e3060e7 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The actual search parameter (from either <em>search_radius_</em> or <em>k_</em>). <br /></td></tr>
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<tr class="memitem:a2c52e9b0412b8ce790837b24cd99f0af inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a2c52e9b0412b8ce790837b24cd99f0af"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a></td></tr>
<tr class="memdesc:a2c52e9b0412b8ce790837b24cd99f0af inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The nearest neighbors search radius for each point. <br /></td></tr>
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<tr class="memitem:a3f68793061ef0973bdacfea56cf5ae21 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a3f68793061ef0973bdacfea56cf5ae21"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">k_</a></td></tr>
<tr class="memdesc:a3f68793061ef0973bdacfea56cf5ae21 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of K nearest neighbors to use for each point. <br /></td></tr>
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<tr class="memitem:aa08fc132189062dabfa291701fa46440 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="aa08fc132189062dabfa291701fa46440"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#aa08fc132189062dabfa291701fa46440">fake_surface_</a></td></tr>
<tr class="memdesc:aa08fc132189062dabfa291701fa46440 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no surface is given, we use the input PointCloud as the surface. <br /></td></tr>
<tr class="separator:aa08fc132189062dabfa291701fa46440 inherit pro_attribs_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
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<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
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<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
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<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame&gt;<br />
class pcl::BOARDLocalReferenceFrameEstimation&lt; PointInT, PointNT, PointOutT &gt;</h3>

<p><a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html" title="BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm for lo...">BOARDLocalReferenceFrameEstimation</a> implements the BOrder Aware Repeatable Directions algorithm for local reference frame estimation as described here: </p>
<ul>
<li>A. Petrelli, L. Di Stefano, "On the repeatability of the local reference frame for partial shape matching", 13th International Conference on Computer Vision (ICCV), 2011</li>
</ul>
<dl class="section author"><dt>作者</dt><dd>Alioscia Petrelli (original), Tommaso Cavallari (PCL port) </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="aee8fdbbcd1053a970dd15835cce2d9b1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aee8fdbbcd1053a970dd15835cce2d9b1">&#9670;&nbsp;</a></span>areEquals()</h2>

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<div class="memtemplate">
template&lt;typename PointInT , typename PointNT , typename PointOutT  = ReferenceFrame&gt; </div>
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      <table class="memname">
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          <td class="memname">bool <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::areEquals </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>val1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>val2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>zero_float_eps</em> = <code>1E-8f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
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</div><div class="memdoc">

<p>Check if val1 and val2 are equals. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">val1</td><td>first number to check. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">val2</td><td>second number to check. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">zero_float_eps</td><td>epsilon </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>true if val1 is equal to val2, false otherwise. </dd></dl>
<div class="fragment"><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      {</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        <span class="keywordflow">return</span> (std::abs (val1 - val2) &lt; zero_float_eps);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab87274eb94ebc08e0c7164e8d34cd955">&#9670;&nbsp;</a></span>computeFeature()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointNT , typename PointOutT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::computeFeature </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
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<p>Abstract feature estimation method. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>the resultant features </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;{</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;  <span class="comment">//check whether used with search radius or search k-neighbors</span></div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  <span class="keywordflow">if</span> (this-&gt;<a class="code" href="classpcl_1_1_feature.html#a94cce071beee358359b14db2edcc62ae">getKSearch</a> () != 0)</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;  {</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;    PCL_ERROR(</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;        <span class="stringliteral">&quot;[pcl::%s::computeFeature] Error! Search method set to k-neighborhood. Call setKSearch(0) and setRadiusSearch( radius ) to use this class.\n&quot;</span>,</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#ae6b4d5717999b6267a670dc704146fdc">getClassName</a>().c_str());</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;  }</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160; </div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;  this-&gt;resetData ();</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> point_idx = 0; point_idx &lt; <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size (); ++point_idx)</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;  {</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;    Eigen::Matrix3f currentLrf;</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;    PointOutT &amp;rf = output[point_idx];</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160; </div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;    <span class="comment">//rf.confidence = computePointLRF (*indices_[point_idx], currentLrf);</span></div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;    <span class="comment">//if (rf.confidence == std::numeric_limits&lt;float&gt;::max ())</span></div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a443d413a50bc03235dfca64d6a0d4563">computePointLRF</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[point_idx], currentLrf) == std::numeric_limits&lt;float&gt;::max ())</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;    {</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;      output.is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;    }</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160; </div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; 3; ++d)</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;    {</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;      rf.x_axis[d] = currentLrf (0, d);</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;      rf.y_axis[d] = currentLrf (1, d);</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;      rf.z_axis[d] = currentLrf (2, d);</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;    }</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;  }</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a443d413a50bc03235dfca64d6a0d4563"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a443d413a50bc03235dfca64d6a0d4563">pcl::BOARDLocalReferenceFrameEstimation::computePointLRF</a></div><div class="ttdeci">float computePointLRF(const int &amp;index, Eigen::Matrix3f &amp;lrf)</div><div class="ttdoc">Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with nor...</div><div class="ttdef"><b>Definition:</b> board.hpp:197</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a94cce071beee358359b14db2edcc62ae"><div class="ttname"><a href="classpcl_1_1_feature.html#a94cce071beee358359b14db2edcc62ae">pcl::Feature&lt; PointInT, ReferenceFrame &gt;::getKSearch</a></div><div class="ttdeci">int getKSearch() const</div><div class="ttdoc">get the number of k nearest neighbors used for the feature estimation.</div><div class="ttdef"><b>Definition:</b> feature.h:190</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ae6b4d5717999b6267a670dc704146fdc"><div class="ttname"><a href="classpcl_1_1_feature.html#ae6b4d5717999b6267a670dc704146fdc">pcl::Feature&lt; PointInT, ReferenceFrame &gt;::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> feature.h:246</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_aaee847c8a517ebf365bad2cb182a6626"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">pcl::PCLBase&lt; PointInT &gt;::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:153</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a443d413a50bc03235dfca64d6a0d4563">&#9670;&nbsp;</a></span>computePointLRF()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointNT , typename PointOutT &gt; </div>
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          <td class="memname">float <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::computePointLRF </td>
          <td>(</td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Matrix3f &amp;&#160;</td>
          <td class="paramname"><em>lrf</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with normals </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">index</td><td>the index of the point in input_ </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">lrf</td><td>the resultant local reference frame </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;{</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="comment">//find Z axis</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="comment">//extract support points for Rz radius</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  std::vector&lt;int&gt; neighbours_indices;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  std::vector&lt;float&gt; neighbours_distances;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  <span class="keywordtype">int</span> n_neighbours = this-&gt;<a class="code" href="classpcl_1_1_feature.html#aa7d2ff6f0db4d63a74a3e01ad2b1f9ab">searchForNeighbors</a> (index, <a class="code" href="classpcl_1_1_feature.html#a0d21af8f0a11aa224026f6bb8e3060e7">search_parameter_</a>, neighbours_indices, neighbours_distances);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="comment">//check if there are enough neighbor points, otherwise compute a random X axis and use normal as Z axis</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="keywordflow">if</span> (n_neighbours &lt; 6)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="comment">//PCL_WARN(</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="comment">//    &quot;[pcl::%s::computePointLRF] Warning! Neighborhood has less than 6 vertices. Aborting description of point with index %d\n&quot;,</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="comment">//    getClassName().c_str(), index);</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="comment">//setting lrf to NaN</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    lrf.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keywordflow">return</span> (std::numeric_limits&lt;float&gt;::max ());</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  }</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="comment">//copy neighbours coordinates into eigen matrix</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  Eigen::Matrix&lt;float, Eigen::Dynamic, 3&gt; neigh_points_mat (n_neighbours, 3);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; n_neighbours; ++i)</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  {</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    neigh_points_mat.row (i) = (*surface_)[neighbours_indices[i]].getVector3fMap ();</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  Eigen::Vector3f x_axis, y_axis;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="comment">//plane fitting to find direction of Z axis</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  Eigen::Vector3f fitted_normal; <span class="comment">//z_axis</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  Eigen::Vector3f centroid;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a539340a12ac997e4a6bc4c20764d1ed1">planeFitting</a> (neigh_points_mat, centroid, fitted_normal);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="comment">//disambiguate Z axis with normal mean</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aab6328bd9ca767e101193c0133a8313d">normalDisambiguation</a> (*<a class="code" href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">normals_</a>, neighbours_indices, fitted_normal);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="comment">//setting LRF Z axis</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  lrf.row (2).matrix () = fitted_normal;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="comment">//find X axis</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="comment">//extract support points for Rx radius</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">tangent_radius_</a> != 0.0f &amp;&amp; <a class="code" href="classpcl_1_1_feature.html#a0d21af8f0a11aa224026f6bb8e3060e7">search_parameter_</a> != <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">tangent_radius_</a>)</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    n_neighbours = this-&gt;<a class="code" href="classpcl_1_1_feature.html#aa7d2ff6f0db4d63a74a3e01ad2b1f9ab">searchForNeighbors</a> (index, <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">tangent_radius_</a>, neighbours_indices, neighbours_distances);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  }</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="comment">//find point with the &quot;most different&quot; normal (with respect to fittedNormal)</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  <span class="keywordtype">float</span> min_normal_cos = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="keywordtype">int</span> min_normal_index = -1;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keywordtype">bool</span> margin_point_found = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  Eigen::Vector3f best_margin_point;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keywordtype">bool</span> best_point_found_on_margins = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="keywordtype">float</span> radius2 = <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">tangent_radius_</a> * <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">tangent_radius_</a>;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="keywordtype">float</span> margin_distance2 = <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aca61a3043c416fbc512236412121eb59">margin_thresh_</a> * <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aca61a3043c416fbc512236412121eb59">margin_thresh_</a> * radius2;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  <span class="keywordtype">float</span> max_boundary_angle = 0;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a52b9cf45c34049cfd6990798bffac8f3">find_holes_</a>)</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  {</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aecb6595caf21c9109e84f7c5964e04d9">randomOrthogonalAxis</a> (fitted_normal, x_axis);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>; i++)</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    {</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      check_margin_array_[i] = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      margin_array_min_angle_[i] = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      margin_array_max_angle_[i] = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      margin_array_min_angle_normal_[i] = -1.0;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      margin_array_max_angle_normal_[i] = -1.0;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    }</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    max_boundary_angle = (2 * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI)) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> curr_neigh = 0; curr_neigh &lt; n_neighbours; ++curr_neigh)</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  {</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; curr_neigh_idx = neighbours_indices[curr_neigh];</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span>&amp; neigh_distance_sqr = neighbours_distances[curr_neigh];</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keywordflow">if</span> (neigh_distance_sqr &lt;= margin_distance2)</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    {</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    }</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="comment">//point normalIndex is inside the ring between marginThresh and Radius</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    margin_point_found = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    Eigen::Vector3f normal_mean = <a class="code" href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">normals_</a>-&gt;at (curr_neigh_idx).getNormalVector3fMap ();</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keywordtype">float</span> normal_cos = fitted_normal.dot (normal_mean);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    <span class="keywordflow">if</span> (normal_cos &lt; min_normal_cos)</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    {</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      min_normal_index = curr_neigh_idx;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      min_normal_cos = normal_cos;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      best_point_found_on_margins = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    }</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a52b9cf45c34049cfd6990798bffac8f3">find_holes_</a>)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    {</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      <span class="comment">//find angle with respect to random axis previously calculated</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      Eigen::Vector3f indicating_normal_vect;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">directedOrthogonalAxis</a> (fitted_normal, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;at (index).getVector3fMap (),</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;                              <a class="code" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">surface_</a>-&gt;at (curr_neigh_idx).getVector3fMap (), indicating_normal_vect);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <span class="keywordtype">float</span> angle = <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a78e4538355e85c97aac9550bf05b0c4e">getAngleBetweenUnitVectors</a> (x_axis, indicating_normal_vect, fitted_normal);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      <span class="keywordtype">int</span> check_margin_array_idx = std::min (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (angle / max_boundary_angle)), <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a> - 1);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      check_margin_array_[check_margin_array_idx] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      <span class="keywordflow">if</span> (angle &lt; margin_array_min_angle_[check_margin_array_idx])</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      {</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        margin_array_min_angle_[check_margin_array_idx] = angle;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;        margin_array_min_angle_normal_[check_margin_array_idx] = normal_cos;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      }</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <span class="keywordflow">if</span> (angle &gt; margin_array_max_angle_[check_margin_array_idx])</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      {</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        margin_array_max_angle_[check_margin_array_idx] = angle;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        margin_array_max_angle_normal_[check_margin_array_idx] = normal_cos;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      }</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    }</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  } <span class="comment">//for each neighbor</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  <span class="keywordflow">if</span> (!margin_point_found)</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  {</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <span class="comment">//find among points with neighDistance &lt;= marginThresh*radius</span></div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> curr_neigh = 0; curr_neigh &lt; n_neighbours; curr_neigh++)</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    {</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; curr_neigh_idx = neighbours_indices[curr_neigh];</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span>&amp; neigh_distance_sqr = neighbours_distances[curr_neigh];</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      <span class="keywordflow">if</span> (neigh_distance_sqr &gt; margin_distance2)</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      Eigen::Vector3f normal_mean = <a class="code" href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">normals_</a>-&gt;at (curr_neigh_idx).getNormalVector3fMap ();</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      <span class="keywordtype">float</span> normal_cos = fitted_normal.dot (normal_mean);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      <span class="keywordflow">if</span> (normal_cos &lt; min_normal_cos)</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      {</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        min_normal_index = curr_neigh_idx;</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        min_normal_cos = normal_cos;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      }</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    }<span class="comment">//for each neighbor</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <span class="comment">// Check if we are not in a degenerate case (all the neighboring normals are NaNs)</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    <span class="keywordflow">if</span> (min_normal_index == -1)</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    {</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      lrf.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <span class="keywordflow">return</span> (std::numeric_limits&lt;float&gt;::max ());</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    }</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    <span class="comment">//find orthogonal axis directed to minNormalIndex point projection on plane with fittedNormal as axis</span></div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">directedOrthogonalAxis</a> (fitted_normal, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;at (index).getVector3fMap (),</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;                            <a class="code" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">surface_</a>-&gt;at (min_normal_index).getVector3fMap (), x_axis);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  }</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a52b9cf45c34049cfd6990798bffac8f3">find_holes_</a>)</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  {</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    <span class="keywordflow">if</span> (best_point_found_on_margins)</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    {</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;      <span class="comment">//if most inclined normal is on support margin</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">directedOrthogonalAxis</a> (fitted_normal, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;at (index).getVector3fMap (), best_margin_point, x_axis);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    }</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; </div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    <span class="comment">// Check if we are not in a degenerate case (all the neighboring normals are NaNs)</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    <span class="keywordflow">if</span> (min_normal_index == -1)</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    {</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      lrf.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      <span class="keywordflow">return</span> (std::numeric_limits&lt;float&gt;::max ());</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    }</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">directedOrthogonalAxis</a> (fitted_normal, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;at (index).getVector3fMap (),</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;                            <a class="code" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">surface_</a>-&gt;at (min_normal_index).getVector3fMap (), x_axis);</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160; </div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  }<span class="comment">// if(!find_holes_)</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  <span class="comment">//check if there is at least a hole</span></div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  <span class="keywordtype">bool</span> is_hole_present = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>; i++)</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  {</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    <span class="keywordflow">if</span> (!check_margin_array_[i])</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    {</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      is_hole_present = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    }</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  }</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  <span class="keywordflow">if</span> (!is_hole_present)</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  {</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    <span class="keywordflow">if</span> (best_point_found_on_margins)</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    {</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      <span class="comment">//if most inclined normal is on support margin</span></div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">directedOrthogonalAxis</a> (fitted_normal, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;at (index).getVector3fMap (), best_margin_point, x_axis);</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160; </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    }</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    <span class="comment">// Check if we are not in a degenerate case (all the neighboring normals are NaNs)</span></div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    <span class="keywordflow">if</span> (min_normal_index == -1)</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    {</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      lrf.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      <span class="keywordflow">return</span> (std::numeric_limits&lt;float&gt;::max ());</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    }</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    <span class="comment">//find orthogonal axis directed to minNormalIndex point projection on plane with fittedNormal as axis</span></div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">directedOrthogonalAxis</a> (fitted_normal, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;at (index).getVector3fMap (),</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;                            <a class="code" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">surface_</a>-&gt;at (min_normal_index).getVector3fMap (), x_axis);</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  }<span class="comment">//if (!is_hole_present)</span></div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160; </div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  <span class="comment">//case hole found</span></div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  <span class="comment">//find missing region</span></div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  <span class="keywordtype">float</span> angle = 0.0;</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  <span class="keywordtype">int</span> hole_end;</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  <span class="keywordtype">int</span> hole_first;</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160; </div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  <span class="comment">//find first no border pie</span></div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;  <span class="keywordtype">int</span> first_no_border = -1;</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;  <span class="keywordflow">if</span> (check_margin_array_[<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a> - 1])</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  {</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    first_no_border = 0;</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  }</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;  {</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>; i++)</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    {</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;      <span class="keywordflow">if</span> (check_margin_array_[i])</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;      {</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;        first_no_border = i;</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;      }</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    }</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;  }</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;  <span class="comment">//float steep_prob = 0.0;</span></div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;  <span class="keywordtype">float</span> max_hole_prob = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  <span class="comment">//find holes</span></div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ch = first_no_border; ch &lt; <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>; ch++)</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;  {</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    <span class="keywordflow">if</span> (!check_margin_array_[ch])</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;    {</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;      <span class="comment">//border beginning found</span></div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;      hole_first = ch;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;      hole_end = hole_first + 1;</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      <span class="keywordflow">while</span> (!check_margin_array_[hole_end % <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>])</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;      {</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;        ++hole_end;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;      }</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;      <span class="comment">//border end found, find angle</span></div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;      <span class="keywordflow">if</span> ((hole_end - hole_first) &gt; 0)</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;      {</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        <span class="comment">//check if hole can be a shapeness hole</span></div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        <span class="keywordtype">int</span> previous_hole = (((hole_first - 1) &lt; 0) ? (hole_first - 1) + <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a> : (hole_first - 1))</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;            % <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>;</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;        <span class="keywordtype">int</span> following_hole = (hole_end) % <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>;</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;        <span class="keywordtype">float</span> normal_begin = margin_array_max_angle_normal_[previous_hole];</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;        <span class="keywordtype">float</span> normal_end = margin_array_min_angle_normal_[following_hole];</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;        normal_begin -= min_normal_cos;</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;        normal_end -= min_normal_cos;</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;        normal_begin = normal_begin / (1.0f - min_normal_cos);</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;        normal_end = normal_end / (1.0f - min_normal_cos);</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;        normal_begin = 1.0f - normal_begin;</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;        normal_end = 1.0f - normal_end;</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160; </div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;        <span class="comment">//evaluate P(Hole);</span></div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;        <span class="keywordtype">float</span> hole_width = 0.0f;</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;        <span class="keywordflow">if</span> (following_hole &lt; previous_hole)</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;        {</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;          hole_width = margin_array_min_angle_[following_hole] + 2 * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI)</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;              - margin_array_max_angle_[previous_hole];</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;        }</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;        {</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;          hole_width = margin_array_min_angle_[following_hole] - margin_array_max_angle_[previous_hole];</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        }</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;        <span class="keywordtype">float</span> hole_prob = hole_width / (2 * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI));</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;        <span class="comment">//evaluate P(zmin|Hole)</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;        <span class="keywordtype">float</span> steep_prob = (normal_end + normal_begin) / 2.0f;</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160; </div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;        <span class="comment">//check hole prob and after that, check steepThresh</span></div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;        <span class="keywordflow">if</span> (hole_prob &gt; <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a760ab86e7331f14c560e4f57c67aee31">hole_size_prob_thresh_</a>)</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;        {</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;          <span class="keywordflow">if</span> (steep_prob &gt; <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aa3012f8e208e3d3657d15d4b782d818b">steep_thresh_</a>)</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;          {</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;            <span class="keywordflow">if</span> (hole_prob &gt; max_hole_prob)</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;            {</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;              max_hole_prob = hole_prob;</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;              <span class="keywordtype">float</span> angle_weight = ((normal_end - normal_begin) + 1.0f) / 2.0f;</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;              <span class="keywordflow">if</span> (following_hole &lt; previous_hole)</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;              {</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;                angle = margin_array_max_angle_[previous_hole] + (margin_array_min_angle_[following_hole] + 2</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;                    * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI) - margin_array_max_angle_[previous_hole]) * angle_weight;</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;              }</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;              {</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;                angle = margin_array_max_angle_[previous_hole] + (margin_array_min_angle_[following_hole]</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;                    - margin_array_max_angle_[previous_hole]) * angle_weight;</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;              }</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;            }</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;          }</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;        }</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      } <span class="comment">//(hole_end-hole_first) &gt; 0</span></div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160; </div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      <span class="keywordflow">if</span> (hole_end &gt;= <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>)</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;      {</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;      }</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;      {</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;        ch = hole_end - 1;</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;      }</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;    }</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;  }</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160; </div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;  <span class="keywordflow">if</span> (max_hole_prob &gt; -std::numeric_limits&lt;float&gt;::max ())</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;  {</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;    <span class="comment">//hole found</span></div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;    Eigen::AngleAxisf rotation = Eigen::AngleAxisf (angle, fitted_normal);</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;    x_axis = rotation * x_axis;</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160; </div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;    min_normal_cos -= 10.0f;</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  }</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  {</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;    <span class="keywordflow">if</span> (best_point_found_on_margins)</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    {</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;      <span class="comment">//if most inclined normal is on support margin</span></div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">directedOrthogonalAxis</a> (fitted_normal, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;at (index).getVector3fMap (), best_margin_point, x_axis);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;    }</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;    {</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;      <span class="comment">// Check if we are not in a degenerate case (all the neighboring normals are NaNs)</span></div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;      <span class="keywordflow">if</span> (min_normal_index == -1)</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;      {</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;        lrf.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;        <span class="keywordflow">return</span> (std::numeric_limits&lt;float&gt;::max ());</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;      }</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160; </div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;      <span class="comment">//find orthogonal axis directed to minNormalIndex point projection on plane with fittedNormal as axis</span></div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;      <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">directedOrthogonalAxis</a> (fitted_normal, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;at (index).getVector3fMap (),</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;                              <a class="code" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">surface_</a>-&gt;at (min_normal_index).getVector3fMap (), x_axis);</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;    }</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;  }</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160; </div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;  y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160; </div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;  lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;  <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160; </div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;  <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a372933f17aa96381feed1149b935d337"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">pcl::BOARDLocalReferenceFrameEstimation::directedOrthogonalAxis</a></div><div class="ttdeci">void directedOrthogonalAxis(Eigen::Vector3f const &amp;axis, Eigen::Vector3f const &amp;axis_origin, Eigen::Vector3f const &amp;point, Eigen::Vector3f &amp;directed_ortho_axis)</div><div class="ttdoc">Given an axis (with origin axis_origin), return the orthogonal axis directed to point.</div><div class="ttdef"><b>Definition:</b> board.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a52b9cf45c34049cfd6990798bffac8f3"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a52b9cf45c34049cfd6990798bffac8f3">pcl::BOARDLocalReferenceFrameEstimation::find_holes_</a></div><div class="ttdeci">bool find_holes_</div><div class="ttdoc">If true, check if support is complete or has missing regions because it is too near to mesh borders.</div><div class="ttdef"><b>Definition:</b> board.h:343</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a539340a12ac997e4a6bc4c20764d1ed1"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a539340a12ac997e4a6bc4c20764d1ed1">pcl::BOARDLocalReferenceFrameEstimation::planeFitting</a></div><div class="ttdeci">void planeFitting(Eigen::Matrix&lt; float, Eigen::Dynamic, 3 &gt; const &amp;points, Eigen::Vector3f &amp;center, Eigen::Vector3f &amp;norm)</div><div class="ttdoc">Compute Least Square Plane Fitting in a set of 3D points</div><div class="ttdef"><b>Definition:</b> board.hpp:131</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a760ab86e7331f14c560e4f57c67aee31"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a760ab86e7331f14c560e4f57c67aee31">pcl::BOARDLocalReferenceFrameEstimation::hole_size_prob_thresh_</a></div><div class="ttdeci">float hole_size_prob_thresh_</div><div class="ttdoc">Threshold used to determine a missing region</div><div class="ttdef"><b>Definition:</b> board.h:352</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a78e4538355e85c97aac9550bf05b0c4e"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a78e4538355e85c97aac9550bf05b0c4e">pcl::BOARDLocalReferenceFrameEstimation::getAngleBetweenUnitVectors</a></div><div class="ttdeci">float getAngleBetweenUnitVectors(Eigen::Vector3f const &amp;v1, Eigen::Vector3f const &amp;v2, Eigen::Vector3f const &amp;axis)</div><div class="ttdoc">return the angle (in radians) that rotate v1 to v2 with respect to axis .</div><div class="ttdef"><b>Definition:</b> board.hpp:84</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a92cb54c700e6df9f2936b3d5cc9806ff"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">pcl::BOARDLocalReferenceFrameEstimation::tangent_radius_</a></div><div class="ttdeci">float tangent_radius_</div><div class="ttdoc">Radius used to find tangent axis.</div><div class="ttdef"><b>Definition:</b> board.h:340</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a9ccdf190f8782d158c409adea2763c01"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">pcl::BOARDLocalReferenceFrameEstimation::check_margin_array_size_</a></div><div class="ttdeci">int check_margin_array_size_</div><div class="ttdoc">Number of slices that divide the support in order to determine if a missing region is present.</div><div class="ttdef"><b>Definition:</b> board.h:349</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aa3012f8e208e3d3657d15d4b782d818b"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aa3012f8e208e3d3657d15d4b782d818b">pcl::BOARDLocalReferenceFrameEstimation::steep_thresh_</a></div><div class="ttdeci">float steep_thresh_</div><div class="ttdoc">Threshold that defines if a missing region contains a point with the most different normal.</div><div class="ttdef"><b>Definition:</b> board.h:355</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aab6328bd9ca767e101193c0133a8313d"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aab6328bd9ca767e101193c0133a8313d">pcl::BOARDLocalReferenceFrameEstimation::normalDisambiguation</a></div><div class="ttdeci">void normalDisambiguation(pcl::PointCloud&lt; PointNT &gt; const &amp;normals_cloud, std::vector&lt; int &gt; const &amp;normal_indices, Eigen::Vector3f &amp;normal)</div><div class="ttdoc">Disambiguates a normal direction using adjacent normals</div><div class="ttdef"><b>Definition:</b> board.hpp:172</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aca61a3043c416fbc512236412121eb59"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aca61a3043c416fbc512236412121eb59">pcl::BOARDLocalReferenceFrameEstimation::margin_thresh_</a></div><div class="ttdeci">float margin_thresh_</div><div class="ttdoc">Threshold that define if a support point is near the margins.</div><div class="ttdef"><b>Definition:</b> board.h:346</div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aecb6595caf21c9109e84f7c5964e04d9"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aecb6595caf21c9109e84f7c5964e04d9">pcl::BOARDLocalReferenceFrameEstimation::randomOrthogonalAxis</a></div><div class="ttdeci">void randomOrthogonalAxis(Eigen::Vector3f const &amp;axis, Eigen::Vector3f &amp;rand_ortho_axis)</div><div class="ttdoc">Given an axis, return a random orthogonal axis</div><div class="ttdef"><b>Definition:</b> board.hpp:100</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html_aabc97906d7c9620d70c5a16de5a48c31"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">pcl::FeatureFromNormals&lt; PointInT, PointNT, ReferenceFrame &gt;::normals_</a></div><div class="ttdeci">PointCloudNConstPtr normals_</div><div class="ttdoc">A pointer to the input dataset that contains the point normals of the XYZ dataset.</div><div class="ttdef"><b>Definition:</b> feature.h:354</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a0d21af8f0a11aa224026f6bb8e3060e7"><div class="ttname"><a href="classpcl_1_1_feature.html#a0d21af8f0a11aa224026f6bb8e3060e7">pcl::Feature&lt; PointInT, ReferenceFrame &gt;::search_parameter_</a></div><div class="ttdeci">double search_parameter_</div><div class="ttdoc">The actual search parameter (from either search_radius_ or k_).</div><div class="ttdef"><b>Definition:</b> feature.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a98f8c497ac78cf49d9274c3ab5fe52df"><div class="ttname"><a href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">pcl::Feature&lt; PointInT, ReferenceFrame &gt;::surface_</a></div><div class="ttdeci">PointCloudInConstPtr surface_</div><div class="ttdoc">An input point cloud describing the surface that is to be used for nearest neighbors estimation.</div><div class="ttdef"><b>Definition:</b> feature.h:230</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_aa7d2ff6f0db4d63a74a3e01ad2b1f9ab"><div class="ttname"><a href="classpcl_1_1_feature.html#aa7d2ff6f0db4d63a74a3e01ad2b1f9ab">pcl::Feature&lt; PointInT, ReferenceFrame &gt;::searchForNeighbors</a></div><div class="ttdeci">int searchForNeighbors(size_t index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</div><div class="ttdoc">Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface ...</div><div class="ttdef"><b>Definition:</b> feature.h:270</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a372933f17aa96381feed1149b935d337">&#9670;&nbsp;</a></span>directedOrthogonalAxis()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::directedOrthogonalAxis </td>
          <td>(</td>
          <td class="paramtype">Eigen::Vector3f const &amp;&#160;</td>
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<p>Given an axis (with origin axis_origin), return the orthogonal axis directed to point. </p>
<dl class="section note"><dt>注解</dt><dd>axis must be normalized.</dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">axis</td><td>the axis </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">axis_origin</td><td>the axis_origin </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">point</td><td>the point towards which the resulting axis is directed </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">directed_ortho_axis</td><td>the directed orthogonal axis calculated </td></tr>
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<div class="fragment"><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  Eigen::Vector3f projection;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a26951f67a6cc8abb851ba700125084a9">projectPointOnPlane</a> (point, axis_origin, axis, projection);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  directed_ortho_axis = projection - axis_origin;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  directed_ortho_axis.normalize ();</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="comment">// check if the computed x axis is orthogonal to the normal</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="comment">//assert(areEquals((float)(directed_ortho_axis.dot(axis)), 0.0f, 1E-3f));</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a26951f67a6cc8abb851ba700125084a9"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a26951f67a6cc8abb851ba700125084a9">pcl::BOARDLocalReferenceFrameEstimation::projectPointOnPlane</a></div><div class="ttdeci">void projectPointOnPlane(Eigen::Vector3f const &amp;point, Eigen::Vector3f const &amp;origin_point, Eigen::Vector3f const &amp;plane_normal, Eigen::Vector3f &amp;projected_point)</div><div class="ttdoc">Given a plane (origin and normal) and a point, return the projection of x on plane</div><div class="ttdef"><b>Definition:</b> board.hpp:67</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a78e4538355e85c97aac9550bf05b0c4e">&#9670;&nbsp;</a></span>getAngleBetweenUnitVectors()</h2>

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<p>return the angle (in radians) that rotate v1 to v2 with respect to axis . </p>
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    <tr><td class="paramdir">[in]</td><td class="paramname">v1</td><td>the first vector </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">v2</td><td>the second vector </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">axis</td><td>the rotation axis. <a class="el" href="structpcl_1_1_axis.html" title="A point structure representing an Axis using its normal coordinates. (SSE friendly)">Axis</a> must be normalized and orthogonal to plane defined by v1 and v2. </td></tr>
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<dl class="section return"><dt>返回</dt><dd>angle </dd></dl>
<div class="fragment"><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;{</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  Eigen::Vector3f angle_orientation;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  angle_orientation = v1.cross (v2);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">float</span> angle_radians = acosf (std::max (-1.0f, std::min (1.0f, v1.dot (v2))));</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  angle_radians = angle_orientation.dot (axis) &lt; 0.f ? (2 * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI) - angle_radians) : angle_radians;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordflow">return</span> (angle_radians);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#acca15a07b92d4e6aac69fccafb6f5d7a">&#9670;&nbsp;</a></span>getCheckMarginArraySize()</h2>

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<p>Gets the number of slices in which is divided the margin for the search of missing regions. </p>
<dl class="section return"><dt>返回</dt><dd>the number of margin slices. </dd></dl>
<div class="fragment"><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a132a85d60b60164853924bafb14e1f3b">&#9670;&nbsp;</a></span>getFindHoles()</h2>

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<p>Gets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the Reference Frame or not. </p>
<dl class="section return"><dt>返回</dt><dd>The search for holes in the support is enabled/disabled. </dd></dl>
<div class="fragment"><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a52b9cf45c34049cfd6990798bffac8f3">find_holes_</a>);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#af455b091134c659ef542b6b68d92302d">&#9670;&nbsp;</a></span>getHoleSizeProbThresh()</h2>

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<p>Given the angle width of a hole in the support margin, gets the minimum percentage of a circumference this angle must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame. </p>
<dl class="section return"><dt>返回</dt><dd>the minimum percentage of a circumference after which a hole is considered in the calculation </dd></dl>
<div class="fragment"><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a760ab86e7331f14c560e4f57c67aee31">hole_size_prob_thresh_</a>);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a6ffa76944c0cbdb3c38645e4af539d99">&#9670;&nbsp;</a></span>getMarginThresh()</h2>

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<p>Gets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin. </p>
<dl class="section return"><dt>返回</dt><dd>The percentage of the search radius after which a point is considered a margin point. </dd></dl>
<div class="fragment"><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aca61a3043c416fbc512236412121eb59">margin_thresh_</a>);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab7f7236eb7e247383e2b22650cfc2a99">&#9670;&nbsp;</a></span>getSteepThresh()</h2>

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<p>Gets the minimum steepness that the normals of the points situated on the borders of the hole, with reference to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame. </p>
<dl class="section return"><dt>返回</dt><dd>threshold that defines if a missing region contains a point with the most different normal. </dd></dl>
<div class="fragment"><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      {</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aa3012f8e208e3d3657d15d4b782d818b">steep_thresh_</a>);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a256c12a56092a55bdeed19ac1a77ec15">&#9670;&nbsp;</a></span>getTangentRadius()</h2>

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<div class="memtemplate">
template&lt;typename PointInT , typename PointNT , typename PointOutT  = ReferenceFrame&gt; </div>
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          <td class="memname">float <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::getTangentRadius </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Get the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference Frame for a given point. </p>
<dl class="section return"><dt>返回</dt><dd>The search radius for x and y axes. If set to 0 the parameter given with setRadiusSearch is used. </dd></dl>
<div class="fragment"><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">tangent_radius_</a>);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aab6328bd9ca767e101193c0133a8313d">&#9670;&nbsp;</a></span>normalDisambiguation()</h2>

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<div class="memtemplate">
template&lt;typename PointInT , typename PointNT , typename PointOutT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::normalDisambiguation </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointNT &gt; const &amp;&#160;</td>
          <td class="paramname"><em>normals_cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; const &amp;&#160;</td>
          <td class="paramname"><em>normal_indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>normal</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Disambiguates a normal direction using adjacent normals </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">normals_cloud</td><td>a cloud of normals used for the calculation </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">normal_indices</td><td>the indices of the normals in the cloud that should to be used for the calculation </td></tr>
    <tr><td class="paramdir">[in,out]</td><td class="paramname">normal</td><td>the normal to disambiguate, the calculation is performed in place </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;{</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  Eigen::Vector3f normal_mean;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  normal_mean.setZero ();</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; normal_indices.size (); ++i)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keyword">const</span> PointNT&amp; curPt = normal_cloud[normal_indices[i]];</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    normal_mean += curPt.getNormalVector3fMap ();</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  normal_mean.normalize ();</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="keywordflow">if</span> (normal.dot (normal_mean) &lt; 0)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    normal = -normal;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a539340a12ac997e4a6bc4c20764d1ed1">&#9670;&nbsp;</a></span>planeFitting()</h2>

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<div class="memtemplate">
template&lt;typename PointInT , typename PointNT , typename PointOutT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::planeFitting </td>
          <td>(</td>
          <td class="paramtype">Eigen::Matrix&lt; float, Eigen::Dynamic, 3 &gt; const &amp;&#160;</td>
          <td class="paramname"><em>points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>center</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>norm</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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<p>Compute Least Square Plane Fitting in a set of 3D points </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">points</td><td>Matrix(nPoints,3) of 3D points coordinates </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">center</td><td>centroid of the distribution of points that belongs to the fitted plane </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">norm</td><td>normal to the fitted plane </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;{</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="comment">// -----------------------------------------------------</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="comment">// Plane Fitting using Singular Value Decomposition (SVD)</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="comment">// -----------------------------------------------------</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordtype">int</span> n_points = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (points.rows ());</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keywordflow">if</span> (n_points == 0)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="comment">//find the center by averaging the points positions</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  center.setZero ();</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; n_points; ++i)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    center += points.row (i);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  center /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (n_points);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="comment">//copy points - average (center)</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  Eigen::Matrix&lt;float, Eigen::Dynamic, 3&gt; A (n_points, 3); <span class="comment">//PointData</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; n_points; ++i)</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  {</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    A (i, 0) = points (i, 0) - center.x ();</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    A (i, 1) = points (i, 1) - center.y ();</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    A (i, 2) = points (i, 2) - center.z ();</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  Eigen::JacobiSVD&lt;Eigen::MatrixXf&gt; svd (A, Eigen::ComputeFullV);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  norm = svd.matrixV ().col (2);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a26951f67a6cc8abb851ba700125084a9">&#9670;&nbsp;</a></span>projectPointOnPlane()</h2>

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<div class="memtemplate">
template&lt;typename PointInT , typename PointNT , typename PointOutT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::projectPointOnPlane </td>
          <td>(</td>
          <td class="paramtype">Eigen::Vector3f const &amp;&#160;</td>
          <td class="paramname"><em>point</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3f const &amp;&#160;</td>
          <td class="paramname"><em>origin_point</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3f const &amp;&#160;</td>
          <td class="paramname"><em>plane_normal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>projected_point</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Given a plane (origin and normal) and a point, return the projection of x on plane </p>
<p>Equivalent to vtkPlane::ProjectPoint()</p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point</td><td>the point to project </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">origin_point</td><td>a point belonging to the plane </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">plane_normal</td><td>normal of the plane </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">projected_point</td><td>the projection of the point on the plane </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;{</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">float</span> t;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  Eigen::Vector3f xo;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  xo = point - origin_point;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  t = plane_normal.dot (xo);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  projected_point = point - (t * plane_normal);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aecb6595caf21c9109e84f7c5964e04d9">&#9670;&nbsp;</a></span>randomOrthogonalAxis()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointNT , typename PointOutT &gt; </div>
<table class="mlabels">
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      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::randomOrthogonalAxis </td>
          <td>(</td>
          <td class="paramtype">Eigen::Vector3f const &amp;&#160;</td>
          <td class="paramname"><em>axis</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>rand_ortho_axis</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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<p>Given an axis, return a random orthogonal axis </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">axis</td><td>input axis </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">rand_ortho_axis</td><td>an axis orthogonal to the input axis and whose direction is random </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;{</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aee8fdbbcd1053a970dd15835cce2d9b1">areEquals</a> (axis.z (), 0.0f))</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    rand_ortho_axis.x () = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rand ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    rand_ortho_axis.y () = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rand ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    rand_ortho_axis.z () = -(axis.x () * rand_ortho_axis.x () + axis.y () * rand_ortho_axis.y ()) / axis.z ();</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aee8fdbbcd1053a970dd15835cce2d9b1">areEquals</a> (axis.y (), 0.0f))</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    rand_ortho_axis.x () = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rand ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    rand_ortho_axis.z () = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rand ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    rand_ortho_axis.y () = -(axis.x () * rand_ortho_axis.x () + axis.z () * rand_ortho_axis.z ()) / axis.y ();</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aee8fdbbcd1053a970dd15835cce2d9b1">areEquals</a> (axis.x (), 0.0f))</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    rand_ortho_axis.y () = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rand ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    rand_ortho_axis.z () = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rand ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    rand_ortho_axis.x () = -(axis.y () * rand_ortho_axis.y () + axis.z () * rand_ortho_axis.z ()) / axis.x ();</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  rand_ortho_axis.normalize ();</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="comment">// check if the computed x axis is orthogonal to the normal</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="comment">//assert(areEquals(rand_ortho_axis.dot(axis), 0.0f, 1E-6f));</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aee8fdbbcd1053a970dd15835cce2d9b1"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aee8fdbbcd1053a970dd15835cce2d9b1">pcl::BOARDLocalReferenceFrameEstimation::areEquals</a></div><div class="ttdeci">bool areEquals(float val1, float val2, float zero_float_eps=1E-8f) const</div><div class="ttdoc">Check if val1 and val2 are equals.</div><div class="ttdef"><b>Definition:</b> board.h:333</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a697610a41cdc46220a777b1b3d804a79">&#9670;&nbsp;</a></span>setCheckMarginArraySize()</h2>

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template&lt;typename PointInT , typename PointNT , typename PointOutT  = ReferenceFrame&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::setCheckMarginArraySize </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>size</em></td><td>)</td>
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<p>Sets the number of slices in which is divided the margin for the search of missing regions. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">size</td><td>the number of margin slices. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a> = size;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        check_margin_array_.clear ();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        check_margin_array_.resize (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        margin_array_min_angle_.clear ();</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        margin_array_min_angle_.resize (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        margin_array_max_angle_.clear ();</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        margin_array_max_angle_.resize (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        margin_array_min_angle_normal_.clear ();</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        margin_array_min_angle_normal_.resize (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        margin_array_max_angle_normal_.clear ();</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        margin_array_max_angle_normal_.resize (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9ccdf190f8782d158c409adea2763c01">check_margin_array_size_</a>);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aff653a5a1a90a17c50e2f1c0ba9c225d">&#9670;&nbsp;</a></span>setFindHoles()</h2>

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<div class="memtemplate">
template&lt;typename PointInT , typename PointNT , typename PointOutT  = ReferenceFrame&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::setFindHoles </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>find_holes</em></td><td>)</td>
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<p>Sets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the Reference Frame or not. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">find_holes</td><td>Enable/Disable the search for holes in the support. </td></tr>
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<div class="fragment"><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a52b9cf45c34049cfd6990798bffac8f3">find_holes_</a> = find_holes;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a40a126956e22130de00aeb223a522ba8">&#9670;&nbsp;</a></span>setHoleSizeProbThresh()</h2>

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template&lt;typename PointInT , typename PointNT , typename PointOutT  = ReferenceFrame&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::setHoleSizeProbThresh </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>prob_thresh</em></td><td>)</td>
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<p>Given the angle width of a hole in the support margin, sets the minimum percentage of a circumference this angle must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">prob_thresh</td><td>the minimum percentage of a circumference after which a hole is considered in the calculation </td></tr>
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  </dd>
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<div class="fragment"><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      {</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a760ab86e7331f14c560e4f57c67aee31">hole_size_prob_thresh_</a> = prob_thresh;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab133cdddc92c41a0a53accfa4e83ea28">&#9670;&nbsp;</a></span>setMarginThresh()</h2>

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template&lt;typename PointInT , typename PointNT , typename PointOutT  = ReferenceFrame&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::setMarginThresh </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>margin_thresh</em></td><td>)</td>
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<p>Sets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">margin_thresh</td><td>the percentage of the search radius after which a point is considered a margin point. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aca61a3043c416fbc512236412121eb59">margin_thresh_</a> = margin_thresh;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a121b2c872aab8a5ab7708b378369437c">&#9670;&nbsp;</a></span>setSteepThresh()</h2>

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template&lt;typename PointInT , typename PointNT , typename PointOutT  = ReferenceFrame&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::setSteepThresh </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>steep_thresh</em></td><td>)</td>
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<p>Sets the minimum steepness that the normals of the points situated on the borders of the hole, with reference to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">steep_thresh</td><td>threshold that defines if a missing region contains a point with the most different normal. </td></tr>
  </table>
  </dd>
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<div class="fragment"><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aa3012f8e208e3d3657d15d4b782d818b">steep_thresh_</a> = steep_thresh;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a6b84b273b35a2c0e1ce2db35a0c344b5">&#9670;&nbsp;</a></span>setTangentRadius()</h2>

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template&lt;typename PointInT , typename PointNT , typename PointOutT  = ReferenceFrame&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::setTangentRadius </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>radius</em></td><td>)</td>
          <td></td>
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<p>Set the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference Frame for a given point. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">radius</td><td>The search radius for x and y axes. If not set or set to 0 the parameter given with setRadiusSearch is used. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a92cb54c700e6df9f2936b3d5cc9806ff">tangent_radius_</a> = radius;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      }</div>
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